| A novel method for mobile robot simultaneous localization and mapping |
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| 作者姓名： | LI Mao-hai HONG Bing-rong LUO Rong-hua WEI Zhen-hua |
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| 作者单位： | School of Computer Science，Harbin Institute of Technology，Harbin 150001，China |
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| 基金项目： | Project (No. 2002AA735041) supported by the Hi-Tech Researchand Development Program (863) of China |
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| 摘 要： | INTRODUCTION A key prerequisite for a truly autonomous robot is that it can simultaneously localize itself and accu-rately map its surroundings (Kortenkamp et al., 1998), which is known as Simultaneous Localization and Mapping (SLAM), which, when phrased as a state estimation problem, involves a variable number of dimensions. Murphy and Russell (2001) adopted Rao-Blackwellized particle filters (RBPFs) as an effective way for representing alternative hypotheses on robot paths and ass…
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| 关 键 词： | 移动机器人 RBPF 单眼视觉 SLAM |
| 收稿时间： | 2005-10-25 |
| 修稿时间： | 2006-01-18 |
A novel method for mobile robot simultaneous localization and mapping |
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| LI Mao-hai HONG Bing-rong LUO Rong-hua WEI Zhen-hua.A novel method for mobile robot simultaneous localization and mapping[J].Journal of Zhejiang University Science,2006,7(6):937-944. |
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| Authors: | Mao-hai Li Bing-rong Hong Rong-hua Luo Zhen-hua Wei |
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| Institution: | (1) School of Computer Science, Harbin Institute of Technology, Harbin, 150001, China |
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| Abstract: | |
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| Keywords: | Mobile robot Rao-Blackwellized particle filter (RBPF) Monocular vision Simultaneous localization and mapping (SLAM) |
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